KDL::VelocityProfile_Trap Class Reference
[Motion]
A Trapezoidal VelocityProfile implementation. More...
#include <velocityprofile_trap.hpp>
Public Member Functions | |
| virtual double | Acc (double time) const |
| virtual VelocityProfile * | Clone () const |
| virtual double | Duration () const |
| virtual double | Pos (double time) const |
| virtual void | SetMax (double _maxvel, double _maxacc) |
| virtual void | SetProfile (double pos1, double pos2) |
| virtual void | SetProfileDuration (double pos1, double pos2, double newduration) |
| virtual double | Vel (double time) const |
| VelocityProfile_Trap (double _maxvel=0, double _maxacc=0) | |
| virtual void | Write (std::ostream &os) const |
| virtual | ~VelocityProfile_Trap () |
Detailed Description
A Trapezoidal VelocityProfile implementation.
Definition at line 60 of file velocityprofile_trap.hpp.
Constructor & Destructor Documentation
| KDL::VelocityProfile_Trap::VelocityProfile_Trap | ( | double | _maxvel = 0, |
|
| double | _maxacc = 0 | |||
| ) |
Definition at line 49 of file velocityprofile_trap.cpp.
Referenced by Clone().
| KDL::VelocityProfile_Trap::~VelocityProfile_Trap | ( | ) | [virtual] |
Definition at line 167 of file velocityprofile_trap.cpp.
Member Function Documentation
| double KDL::VelocityProfile_Trap::Acc | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 147 of file velocityprofile_trap.cpp.
| VelocityProfile * KDL::VelocityProfile_Trap::Clone | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 161 of file velocityprofile_trap.cpp.
References SetProfileDuration(), and VelocityProfile_Trap().
| double KDL::VelocityProfile_Trap::Duration | ( | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 116 of file velocityprofile_trap.cpp.
| double KDL::VelocityProfile_Trap::Pos | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 120 of file velocityprofile_trap.cpp.
| void KDL::VelocityProfile_Trap::SetMax | ( | double | _maxvel, | |
| double | _maxacc | |||
| ) | [virtual] |
Definition at line 111 of file velocityprofile_trap.cpp.
| void KDL::VelocityProfile_Trap::SetProfile | ( | double | pos1, | |
| double | pos2 | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 61 of file velocityprofile_trap.cpp.
References KDL::sign(), KDL::sqr(), and KDL::sqrt().
Referenced by SetProfileDuration().
| void KDL::VelocityProfile_Trap::SetProfileDuration | ( | double | pos1, | |
| double | pos2, | |||
| double | newduration | |||
| ) | [virtual] |
Implements KDL::VelocityProfile.
Definition at line 91 of file velocityprofile_trap.cpp.
References boost::numeric::bindings::umfpack::detail::factor(), and SetProfile().
Referenced by Clone().
| double KDL::VelocityProfile_Trap::Vel | ( | double | time | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 133 of file velocityprofile_trap.cpp.
| void KDL::VelocityProfile_Trap::Write | ( | std::ostream & | os | ) | const [virtual] |
Implements KDL::VelocityProfile.
Definition at line 170 of file velocityprofile_trap.cpp.
The documentation for this class was generated from the following files:
